Waist connecting assembly and humanoid robot

Abstract

The utility model provides a waist connecting assembly and a humanoid robot, and belongs to the technical field of humanoid robots. One end of the supporting bracket is rotatably connected with the first rotating seat; the second rotating seat is fixed relative to the first rotating seat; the third rotating seat is connected with the other end of the supporting bracket; the first push rod comprises a first shell and a first output shaft, the first shell is rotatably connected with the second rotating seat, the first output shaft is telescopically connected with the first shell, and the first output shaft is rotatably connected with the third rotating seat. The humanoid robot has the advantages that when the first output shaft stretches out and draws back relative to the first shell, the first shell is driven to rotate around the second rotating base, meanwhile, the third rotating base drives the supporting support to rotate around the first rotating base, the angle of the upper portion of the robot can be adjusted relative to the angle of the lower portion of the robot, and pitching of the humanoid robot is achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of humanoid robots and relates to a waist connection component and a humanoid robot. Background Art

[0002] With the continuous advancement of robotics technology, its application in various fields is becoming increasingly extensive, greatly enriching and facilitating people's lives and production. Faced with diverse needs, the functions and types of robots are also becoming more diversified. In order to achieve these functions, the robot's own freedom of movement becomes particularly critical.

[0003] Taking the robot's waist as an example, it usually has multiple movement capabilities such as rotation, pitch and tilt. The realization of these movements often relies on the coordinated work of multiple actuators, which not only complicates the structural design, but also increases the probability of failure. At the same time, it also brings certain challenges in installation and maintenance.

[0004] In the existing technology, the flexibility of robots in operating at different heights is slightly insufficient. For example, this limitation is particularly obvious when the robot needs to pitch in environments at different heights, and there is a lot of room for improvement. Summary of the Invention

[0005] The purpose of the utility model is to address the above-mentioned problems existing in the prior art and to propose a waist connection component and a humanoid robot.

[0006] The purpose of the utility model can be achieved through the following technical solutions: A waist connection assembly, comprising:

[0007] a first rotating seat;

[0008] a supporting bracket, one end of which is rotatably connected to the first rotating seat;

[0009] a second rotating base, which is fixed relative to the first rotating base;

[0010] a third rotating seat connected to the other end of the supporting bracket;

[0011] a first push rod comprising a first housing and a first output shaft, wherein the first housing is rotatably connected to the second rotating seat, the first output shaft is telescopically connected to the first housing, and the first output shaft is rotatably connected to the third rotating seat;

[0012] When the first output shaft is extended or retracted relative to the first housing, the first housing is driven to rotate around the second rotating seat, and at the same time, the supporting bracket is driven to rotate around the first rotating seat through the third rotating seat.

[0013] In the above-mentioned waist connection assembly, it also includes a second push rod, the second push rod includes a second shell and a second output shaft, the second shell is connected to the support bracket, and the second output shaft is telescopically connected to the second shell.

[0014] In the above-mentioned waist connection component, it also includes a guide sleeve and a guide rod, the guide rod is fixed relative to the second output shaft, the guide sleeve is connected to the second shell, and the guide rod is movably connected to the guide sleeve.

[0015] In the above-mentioned waist connection assembly, the first rotating seat is provided with a first rotating shaft, and the supporting bracket is rotatably connected to the first rotating seat via the first rotating shaft.

[0016] In the above-mentioned waist connection assembly, the second rotating seat is provided with a second rotating shaft, and the first shell is rotatably connected to the second rotating seat via the second rotating shaft.

[0017] In the above-mentioned waist connection assembly, the third rotating seat is provided with a third rotating shaft, and the first output shaft is rotatably connected to the third rotating seat through the third rotating shaft.

[0018] Secondly, a humanoid robot includes the waist connection assembly described above, and also includes: a robot lower part and a robot upper part, the first rotating seat and the second rotating seat are both connected to the robot lower part, and the second output shaft is connected to the robot upper part.

[0019] In the above-mentioned humanoid robot, the guide rod is connected to the upper part of the robot.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] 1. When the first output shaft is extended or retracted relative to the first housing, it drives the first housing to rotate around the second rotating seat. At the same time, the third rotating seat drives the supporting bracket to rotate around the first rotating seat, so that the angle of the upper part of the robot can be adjusted relative to the lower part of the robot, thereby realizing the pitch of the humanoid robot.

[0022] 2. The second output shaft is telescopically connected to the second shell, so that the upper part of the robot can be adjusted in height relative to the lower part of the robot, realizing the lifting and lowering of the humanoid robot. Working together with the first push rod, it can adjust the height of the robot and the forward tilt angle at the same time.

[0023] 3. The guide sleeve can guide the movement of the guide rod, thereby limiting the movement direction of the upper part of the robot to linear motion. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1This is a schematic structural diagram of the waist connection assembly of the present invention.

[0025] Figure 2 This is an exploded view of the waist connection assembly of the present invention.

[0026] Figure 3 This is a diagram of the waist connection assembly of the present invention in an inclined state.

[0027] Figure 4 This is a diagram of the waist connection component of the present invention in an extended state.

[0028] Figure 5 This is a diagram of the waist connection assembly of the present invention in an inclined and extended state.

[0029] Figure 6 This is a schematic structural diagram of a humanoid robot according to the present invention.

[0030] In the figure, 100, the first rotating seat; 110, the first rotating axis; 200, the supporting bracket; 300, the second rotating seat; 310, the second rotating axis; 400, the third rotating seat; 410, the third rotating axis; 500, the first push rod; 510, the first shell; 520, the first output shaft; 600, the second push rod; 610, the second shell; 620, the second output shaft; 710, the guide sleeve; 720, the guide rod; 800, the lower part of the robot; 900, the upper part of the robot. DETAILED DESCRIPTION

[0031] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0032] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0033] In addition, terms such as "first," "second," and "an" in this utility model are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this utility model, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0034] In this utility model, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0035] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in this field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this utility model.

[0036] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Persons skilled in the art may make various modifications, additions, or substitutions to the described specific embodiments without departing from the spirit of the present invention or exceeding the scope defined by the appended claims.

[0037] like Figure 1-Figure 5 As shown, a waist connection assembly includes: a first rotating base 100, a supporting bracket 200, a second rotating base 300, a third rotating base 400 and a first push rod 500.

[0038] The first rotating seat 100 is used to connect with the lower part 800 of the robot.

[0039] One end of the support bracket 200 is rotatably connected to the first rotating seat 100 , and the support bracket 200 is used to be directly or indirectly connected to the robot upper part 900 .

[0040] Specifically, the first rotating base 100 is provided with a first rotating shaft 110 , and the supporting bracket 200 is rotatably connected to the first rotating base 100 via the first rotating shaft 110 .

[0041] The second rotating base 300 is fixed relative to the first rotating base 100 , and the second rotating base 300 is used to connect with the lower part 800 of the robot.

[0042] The third rotating seat 400 is connected to the other end of the supporting bracket 200 .

[0043] Among them, the first push rod 500 includes a first shell 510 and a first output shaft 520, the first shell 510 is rotatably connected to the second rotating seat 300, the first output shaft 520 is telescopically connected to the first shell 510, and the first output shaft 520 is rotatably connected to the third rotating seat 400.

[0044] Specifically, the second rotating base 300 is provided with a second rotating shaft 310 , and the first shell 510 is rotatably connected to the second rotating base 300 via the second rotating shaft 310 .

[0045] Specifically, the third rotating base 400 is provided with a third rotating shaft 410 , and the first output shaft 520 is rotatably connected to the third rotating base 400 via the third rotating shaft 410 .

[0046] When the first output shaft 520 is extended or retracted relative to the first shell 510 , it drives the first shell 510 to rotate around the second rotating seat 300 , and at the same time drives the supporting bracket 200 to rotate around the first rotating seat 100 through the third rotating seat 400 .

[0047] In this embodiment, when the first output shaft 520 is extended or retracted relative to the first shell 510, it drives the first shell 510 to rotate around the second rotating seat 300, and at the same time drives the support bracket 200 to rotate around the first rotating seat 100 through the third rotating seat 400, so that the upper part 900 of the robot can be adjusted in angle relative to the lower part 800 of the robot, thereby realizing the pitch of the humanoid robot.

[0048] like Figure 1-Figure 5 As shown, on the basis of the above embodiment, it also includes a second push rod 600, the second push rod 600 includes a second shell 610 and a second output shaft 620, the second shell 610 is connected to the support bracket 200, the second output shaft 620 is telescopically connected to the second shell 610, and the second output shaft 620 is used to connect to the upper part 900 of the robot.

[0049] In this embodiment, the second output shaft 620 is telescopically connected to the second shell 610, so that the upper part 900 of the robot can be adjusted in height relative to the lower part 800 of the robot, thereby realizing the lifting and lowering of the humanoid robot. Together with the first push rod 500, it is possible to adjust the height of the robot while adjusting the forward tilt angle.

[0050] like Figure 1-Figure 5As shown, on the basis of the above embodiment, it also includes a guide sleeve 710 and a guide rod 720, the guide rod 720 is fixed relative to the second output shaft 620, the guide sleeve 710 is connected to the second shell 610, the guide rod 720 is movably connected to the guide sleeve 710, and the guide rod 720 is used to connect to the upper part 900 of the robot.

[0051] In this embodiment, the guide sleeve 710 can guide the movement of the guide rod 720, thereby limiting the movement direction of the robot upper part 900 to linear motion.

[0052] like Figures 1-6 As shown, a humanoid robot includes the waist connection assembly described above, and also includes: a robot lower part 800 and a robot upper part 900, the first rotating seat 100 and the second rotating seat 300 are both connected to the robot lower part 800, and the second output shaft 620 is connected to the robot upper part 900.

[0053] In this embodiment, the first push rod 500 enables the upper part 900 of the robot to be adjusted in angle relative to the lower part 800 of the robot, thereby realizing the pitch of the humanoid robot, and the second push rod 600 enables the upper part 900 of the robot to be adjusted in height relative to the lower part 800 of the robot, thereby realizing the lifting and lowering of the humanoid robot. Together, the two realize the lifting and pitching of the humanoid robot.

[0054] like Figures 1-6 As shown, based on the above embodiment, the guide rod 720 is connected to the robot upper part 900.

[0055] In this embodiment, the guide sleeve 710 can guide the movement of the guide rod 720, thereby guiding the moving direction of the robot upper part 900.

Claims

1. A waist connection assembly, characterized in that: include: a first rotating seat; a supporting bracket, one end of which is rotatably connected to the first rotating seat; a second rotating base, which is fixed relative to the first rotating base; a third rotating seat connected to the other end of the supporting bracket; a first push rod comprising a first housing and a first output shaft, wherein the first housing is rotatably connected to the second rotating seat, the first output shaft is telescopically connected to the first housing, and the first output shaft is rotatably connected to the third rotating seat; When the first output shaft is extended or retracted relative to the first housing, the first housing is driven to rotate around the second rotating seat, and at the same time, the supporting bracket is driven to rotate around the first rotating seat through the third rotating seat.

2. A waist connection assembly according to claim 1, characterized in that: It also includes a second push rod, which includes a second shell and a second output shaft. The second shell is connected to the support bracket, and the second output shaft is telescopically connected to the second shell.

3. A waist connection assembly according to claim 2, characterized in that: It also includes a guide sleeve and a guide rod, wherein the guide rod is fixed relative to the second output shaft, the guide sleeve is connected to the second housing, and the guide rod is movably connected to the guide sleeve.

4. A waist connection assembly according to claim 3, characterized in that: The first rotating seat is provided with a first rotating shaft, and the supporting bracket is rotatably connected to the first rotating seat via the first rotating shaft.

5. The waist connection assembly according to claim 3, characterized in that: The second rotating base is provided with a second rotating shaft, and the first shell is rotatably connected to the second rotating base via the second rotating shaft.

6. The waist connection assembly according to claim 3, characterized in that: The third rotating seat is provided with a third rotating shaft, and the first output shaft is rotatably connected to the third rotating seat through the third rotating shaft.

7. A humanoid robot, characterized in that: It comprises a waist connection assembly as described in any one of claims 3-6, and also includes: a robot lower part and a robot upper part, the first rotating seat and the second rotating seat are both connected to the robot lower part, and the second output shaft is connected to the robot upper part.

8. The humanoid robot according to claim 7, wherein: The guide rod is connected to the upper part of the robot.

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